Virtual Speed Slip Provider
Calculates virtual wheel slip values based on speed differences between driven and non-driven wheels. Provides slip ratio data to the traction control supervisor for intervention decisions.
Calculates virtual wheel slip values based on speed differences between driven and non-driven wheels. Provides slip ratio data to the traction control supervisor for intervention decisions.
Public API
| Function | Description |
|---|---|
calculateSlipTractionControl(wheelGroup, steeringCoef, velocityOffset, dt) | Computes current slip ratios for a wheel group using the vehicle's true speed estimate. |
calculateSlipABSControl(wheelData, velocityOffset, dt) | Computes slip for a single wheel, specifically for ABS logic. |
registerCMU(cmu) | Links to the CMU. |
module.setDebugMode(debugEnabled) | Sets the debug mode. |
module.shutdown() | Shuts down the module and cleans up resources. |
module.setParameters(parameters) | Sets the parameters. |
module.setConfig(configTable) | Sets the config. |
module.getConfig() | Returns the config. |
Hooks
| Hook | Description |
|---|---|
module.init(jbeamData) | Initializes the controller from JBeam data. |
module.initSecondStage(jbeamData) | Second-stage initialization after all controllers are loaded. |
module.initLastStage(jbeamData) | Final-stage initialization after all controllers and powertrains are ready. |
module.reset() | Resets the controller to its initial state. |
module.updateGFX(dt) | Per-frame update for visual state and UI synchronization. |
See Also
- Traction Control — Parent traction supervisor
Motor Torque Control Component
Engine/motor torque reduction component for driving dynamics interventions. Reduces drive torque as commanded by traction or yaw supervisors to limit wheelspin or correct stability issues.
STM Yaw Estimate Provider
Single-Track Model (STM) based yaw rate reference provider. Calculates the expected yaw rate for the current speed and steering angle using a bicycle model, providing the target reference that the yaw control supervisor compares against actual yaw rate.